Vehicle collision management responsive to traction conditions in an avoidance path

ABSTRACT

Described embodiments include a system and a method. A system includes a surface evaluation circuit configured to determine a surface fraction characteristic of at least a portion of a driving surface of a possible collision avoidance path of a vehicle. The system includes a rating circuit configured to assign a risk value to the possible collision avoidance path responsive to the determined surface traction characteristic. The system includes a selector circuit having a rule-set configured to select a collision avoidance path from at least two possible collision avoidance paths in response to an evaluation of the respective assigned risk value for each of the at least two possible collision avoidance paths.

If an Application Data Sheet (ADS) has been filed on the filing date ofthis application, it is incorporated by reference herein. Anyapplications claimed on the ADS for priority under 35 U.S.C. §§119, 120,121, or 365(c), and any and all parent, grandparent, great-grandparent,etc. applications of such applications, are also incorporated byreference, including any priority claims made in those applications andany material incorporated by reference, to the extent such subjectmatter is not inconsistent herewith.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims the benefit of the earliest availableeffective filing date(s) from the following listed application(s) (the“Priority Applications”), if any, listed below (e.g., claims earliestavailable priority dates for other than provisional patent applicationsor claims benefits under 35 USC §119(e) for provisional patentapplications, for any and all parent, grandparent, great-grandparent,etc. applications of the Priority Application(s)).

Priority Applications

The present application constitutes a continuation of U.S. patentapplication Ser. No. 14/160,088, entitled VEHICLE COLLISION MANAGEMENTRESPONSIVE TO TRACTION CONDITIONS IN AN AVOIDANCE PATH, naming WILLIAMDAVID DUNCAN, RODERICK A. HYDE, ROBERT C. PETROSKI, AND LOWELL L. WOOD,JR. as inventors, filed 21 Jan. 2014, now issued as U.S. Pat. No.9,199,642.

If the listings of applications provided above are inconsistent with thelistings provided via an ADS, it is the intent of the Applicant to claimpriority to each application that appears in the DomesticBenefit/National Stage Information section of the ADS and to eachapplication that appears in the Priority Applications section of thisapplication.

All subject matter of the Priority Applications and of any and allapplications related to the Priority Applications by priority claims(directly or indirectly), including any priority claims made and subjectmatter incorporated by reference therein as of the filing date of theinstant application, is incorporated herein by reference to the extentsuch subject matter is not inconsistent herewith.

SUMMARY

For example, and without limitation, an embodiment of the subject matterdescribed herein includes a system. The system includes a surfaceevaluation circuit configured to determine a surface tractioncharacteristic of at least a portion of a driving surface of a possiblecollision avoidance path of a vehicle. The system includes a ratingcircuit configured to assign a risk value to the possible collisionavoidance path responsive to the determined surface tractioncharacteristic. The system includes a selector circuit having a rule-setconfigured to select a collision avoidance path from at least twopossible collision avoidance paths in response to an evaluation of therespective assigned risk value for each of the at least two possiblecollision avoidance paths.

In an embodiment, the system includes a collision avoidance circuitconfigured to generate a collision avoidance instruction responsive tothe selected collision avoidance path. In an embodiment, the systemincludes a collision avoidance circuit configured to generate at leasttwo possible collision avoidance paths of the vehicle responsive to anenvironment or situation indicating a possible collision threat. In anembodiment, the system includes a display device configured to display ahuman perceivable presentation of an aspect of the selected collisionavoidance path. In an embodiment, the system includes a vehicleoperations controller configured to initiate an implementation of anaspect of the selected collision avoidance path by a control system ofthe vehicle. In an embodiment, the system includes a communicationcircuit configured to output a signal indicative of the selectedcollision avoidance path. In an embodiment, the system includes a sensorconfigured to acquire data indicative of the condition of the portion ofthe surface of the possible collision avoidance path. In an embodiment,the system includes another sensor configured to acquire data indicativeof an environment or situation external to the collision-managedvehicle. In an embodiment, the system includes a computer readablestorage media configured to save the selected collision avoidance path.

For example, and without limitation, an embodiment of the subject matterdescribed herein includes a vehicle. The vehicle includes a chassis, atleast two wheels, a propulsion system, and a body. The vehicle includesa system. The system includes a surface evaluation circuit configured todetermine a surface fraction characteristic of at least a portion of adriving surface of a possible collision avoidance path of a vehicle. Thesystem includes a rating circuit configured to assign a risk value tothe possible collision avoidance path responsive to the determinedsurface traction characteristic. The system includes a selector circuithaving a rule-set that selects a collision avoidance path from at leasttwo possible collision avoidance paths. The rule-set is responsive to anevaluation of a respective assigned risk value for each of the at leasttwo possible collision avoidance paths. In an embodiment, the systemincludes a vehicle operations controller configured to initiate animplementation of an aspect of the selected collision avoidance path bya control system of the vehicle. In an embodiment, the system includes adisplay system configured to display a human perceivable presentation ofan aspect of the selected collision avoidance path.

For example, and without limitation, an embodiment of the subject matterdescribed herein includes a method implemented in a self-propelledvehicle. The method includes determining a surface tractioncharacteristic of at least a portion of a driving surface of a possiblecollision avoidance path of a vehicle. The method includes assigning arisk value to the possible collision avoidance path in response to thedetermined surface traction characteristic. The method includesselecting a collision avoidance path from at least two possiblecollision avoidance paths, the selecting responsive to an evaluation ofan assigned risk value for each of the at least two possible collisionavoidance paths.

In an embodiment, the method includes displaying a human perceivablepresentation of an aspect of the selected collision avoidance path. Inan embodiment, the method includes initiating an implementation of anaspect of the selected collision avoidance path by a control system ofthe vehicle. In an embodiment, the method includes acquiring the dataindicative of the condition of the driving surface of the possiblecollision avoidance path.

The foregoing summary is illustrative only and is not intended to be inany way limiting. In addition to the illustrative aspects, embodiments,and features described above, further aspects, embodiments, and featureswill become apparent by reference to the drawings and the followingdetailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an example embodiment of an environment that includesa thin computing device in which embodiments may be implemented;

FIG. 2 illustrates an example embodiment of an environment that includesa general-purpose computing system in which embodiments may beimplemented;

FIG. 3 schematically illustrates a plan view of an example environmentin which embodiments may be implemented;

FIG. 4 schematically illustrates a side view of the example environmentof FIG. 3;

FIG. 5 schematically illustrates an embodiment of the system of FIGS. 3and 4;

FIG. 6 illustrates an example operational flow;

FIG. 7 illustrates an adverse circumstance present in a possiblecollision avoidance path of a vehicle;

FIG. 8 schematically illustrates an embodiment of the system of thevehicle of FIG. 7;

FIG. 9 illustrates an example operational flow;

FIG. 10 illustrates an example operational flow;

FIG. 11 illustrates an adverse circumstance present in a possiblecollision avoidance path of a vehicle;

FIG. 12 schematically illustrates an embodiment of the system of thevehicle of FIG. 11;

FIG. 13 illustrates an example operational flow;

FIG. 14 illustrates an alternative embodiment of the example operationalflow of FIG. 13; and

FIG. 15 illustrates an example operational flow.

DETAILED DESCRIPTION

In the following detailed description, reference is made to theaccompanying drawings, which form a part hereof. In the drawings,similar symbols typically identify similar components, unless contextdictates otherwise. The illustrated embodiments described in thedetailed description, drawings, and claims are not meant to be limiting.Other embodiments may be utilized, and other changes may be made,without departing from the spirit or scope of the subject matterpresented here.

This application makes reference to technologies described more fully inU.S. patent application Ser. No. 14/160,120, filed on even dateherewith, and entitled “VEHICLE COLLISION MANAGEMENT RESPONSIVE TOADVERSE CIRCUMSTANCES IN AN AVOIDANCE PATH.” That application isincorporated by reference herein, including any subject matter includedby reference in that application.

Those having skill in the art will recognize that the state of the arthas progressed to the point where there is little distinction leftbetween hardware, software, and/or firmware implementations of aspectsof systems; the use of hardware, software, and/or firmware is generally(but not always, in that in certain contexts the choice between hardwareand software can become significant) a design choice representing costvs. efficiency tradeoffs. Those having skill in the art will appreciatethat there are various implementations by which processes and/or systemsand/or other technologies described herein can be effected (e.g.,hardware, software, and/or firmware), and that the preferredimplementation will vary with the context in which the processes and/orsystems and/or other technologies are deployed. For example, if animplementer determines that speed and accuracy are paramount, theimplementer may opt for a mainly hardware and/or firmwareimplementation; alternatively, if flexibility is paramount, theimplementer may opt for a mainly software implementation; or, yet againalternatively, the implementer may opt for some combination of hardware,software, and/or firmware. Hence, there are several possibleimplementations by which the processes and/or devices and/or othertechnologies described herein may be effected, none of which isinherently superior to the other in that any implementation to beutilized is a choice dependent upon the context in which theimplementation will be deployed and the specific concerns (e.g., speed,flexibility, or predictability) of the implementer, any of which mayvary. Those skilled in the art will recognize that optical aspects ofimplementations will typically employ optically-oriented hardware,software, and or firmware.

In some implementations described herein, logic and similarimplementations may include software or other control structuressuitable to implement an operation. Electronic circuitry, for example,may manifest one or more paths of electrical current constructed andarranged to implement various logic functions as described herein. Insome implementations, one or more media are configured to bear adevice-detectable implementation if such media hold or transmit aspecial-purpose device instruction set operable to perform as describedherein. In some variants, for example, this may manifest as an update orother modification of existing software or firmware, or of gate arraysor other programmable hardware, such as by performing a reception of ora transmission of one or more instructions in relation to one or moreoperations described herein. Alternatively or additionally, in somevariants, an implementation may include special-purpose hardware,software, firmware components, and/or general-purpose componentsexecuting or otherwise invoking special-purpose components.Specifications or other implementations may be transmitted by one ormore instances of tangible transmission media as described herein,optionally by packet transmission or otherwise by passing throughdistributed media at various times.

Alternatively or additionally, implementations may include executing aspecial-purpose instruction sequence or otherwise invoking circuitry forenabling, triggering, coordinating, requesting, or otherwise causing oneor more occurrences of any functional operations described below. Insome variants, operational or other logical descriptions herein may beexpressed directly as source code and compiled or otherwise invoked asan executable instruction sequence. In some contexts, for example, C++or other code sequences can be compiled directly or otherwiseimplemented in high-level descriptor languages (e.g., alogic-synthesizable language, a hardware description language, ahardware design simulation, and/or other such similar mode(s) ofexpression). Alternatively or additionally, some or all of the logicalexpression may be manifested as a Verilog-type hardware description orother circuitry model before physical implementation in hardware,especially for basic operations or timing-critical applications. Thoseskilled in the art will recognize how to obtain, configure, and optimizesuitable transmission or computational elements, material supplies,actuators, or other common structures in light of these teachings.

In a general sense, those skilled in the art will recognize that thevarious embodiments described herein can be implemented, individuallyand/or collectively, by various types of electro-mechanical systemshaving a wide range of electrical components such as hardware, software,firmware, and/or virtually any combination thereof; and a wide range ofcomponents that may impart mechanical force or motion such as rigidbodies, spring or torsional bodies, hydraulics, electro-magneticallyactuated devices, and/or virtually any combination thereof.Consequently, as used herein “electro-mechanical system” includes, butis not limited to, electrical circuitry operably coupled with atransducer (e.g., an actuator, a motor, a piezoelectric crystal, a MicroElectro Mechanical System (MEMS), etc.), electrical circuitry having atleast one discrete electrical circuit, electrical circuitry having atleast one integrated circuit, electrical circuitry having at least oneapplication specific integrated circuit, electrical circuitry forming ageneral purpose computing device configured by a computer program (e.g.,a general purpose computer configured by a computer program which atleast partially carries out processes and/or devices described herein,or a microprocessor configured by a computer program which at leastpartially carries out processes and/or devices described herein),electrical circuitry forming a memory device (e.g., forms of memory(e.g., random access, flash, read only, etc.)), electrical circuitryforming a communications device (e.g., a modem, module, communicationsswitch, optical-electrical equipment, etc.), and/or any non-electricalanalog thereto, such as optical or other analogs. Those skilled in theart will also appreciate that examples of electro-mechanical systemsinclude but are not limited to a variety of consumer electronicssystems, medical devices, as well as other systems such as motorizedtransport systems, factory automation systems, security systems, and/orcommunication/computing systems. Those skilled in the art will recognizethat electro-mechanical as used herein is not necessarily limited to asystem that has both electrical and mechanical actuation except ascontext may dictate otherwise.

In a general sense, those skilled in the art will also recognize thatthe various aspects described herein which can be implemented,individually and/or collectively, by a wide range of hardware, software,firmware, and/or any combination thereof can be viewed as being composedof various types of “electrical circuitry.” Consequently, as used herein“electrical circuitry” includes, but is not limited to, electricalcircuitry having at least one discrete electrical circuit, electricalcircuitry having at least one integrated circuit, electrical circuitryhaving at least one application specific integrated circuit, electricalcircuitry forming a general purpose computing device configured by acomputer program (e.g., a general purpose computer configured by acomputer program which at least partially carries out processes and/ordevices described herein, or a microprocessor configured by a computerprogram which at least partially carries out processes and/or devicesdescribed herein), electrical circuitry forming a memory device (e.g.,forms of memory (e.g., random access, flash, read only, etc.)), and/orelectrical circuitry forming a communications device (e.g., a modem,communications switch, optical-electrical equipment, etc.). Those havingskill in the art will recognize that the subject matter described hereinmay be implemented in an analog or digital fashion or some combinationthereof.

Those skilled in the art will further recognize that at least a portionof the devices and/or processes described herein can be integrated intoan image processing system. A typical image processing system maygenerally include one or more of a system unit housing, a video displaydevice, memory such as volatile or non-volatile memory, processors suchas microprocessors or digital signal processors, computational entitiessuch as operating systems, drivers, applications programs, one or moreinteraction devices (e.g., a touch pad, a touch-sensitive screen ordisplay surface, an antenna, etc.), control systems including feedbackloops and control motors (e.g., feedback for sensing lens positionand/or velocity; control motors for moving/distorting lenses to givedesired focuses). An image processing system may be implementedutilizing suitable commercially available components, such as thosetypically found in digital still systems and/or digital motion systems.

Those skilled in the art will likewise recognize that at least some ofthe devices and/or processes described herein can be integrated into adata processing system. Those having skill in the art will recognizethat a data processing system generally includes one or more of a systemunit housing, a video display device, memory such as volatile ornon-volatile memory, processors such as microprocessors or digitalsignal processors, computational entities such as operating systems,drivers, graphical user interfaces, and applications programs, one ormore interaction devices (e.g., a touch pad, a touch-sensitive screen ordisplay surface, an antenna, etc.), and/or control systems includingfeedback loops and control motors (e.g., feedback for sensing positionand/or velocity; control motors for moving and/or adjusting componentsand/or quantities). A data processing system may be implementedutilizing suitable commercially available components, such as thosetypically found in data computing/communication and/or networkcomputing/communication systems.

FIGS. 1 and 2 provide respective general descriptions of severalenvironments in which implementations may be implemented. FIG. 1 isgenerally directed toward a thin computing environment 19 having a thincomputing device 20, and FIG. 2 is generally directed toward a generalpurpose computing environment 100 having general purpose computingdevice 110. However, as prices of computer components drop and ascapacity and speeds increase, there is not always a bright line betweena thin computing device and a general purpose computing device. Further,there is a continuous stream of new ideas and applications forenvironments benefited by use of computing power. As a result, nothingshould be construed to limit disclosed subject matter herein to aspecific computing environment unless limited by express language.

FIG. 1 and the following discussion are intended to provide a brief,general description of a thin computing environment 19 in whichembodiments may be implemented. FIG. 1 illustrates an example systemthat includes a thin computing device 20, which may be included orembedded in an electronic device that also includes a device functionalelement 50. For example, the electronic device may include any itemhaving electrical or electronic components playing a role in afunctionality of the item, such as for example, a refrigerator, a car, adigital image acquisition device, a camera, a cable modem, a printer anultrasound device, an x-ray machine, a non-invasive imaging device, oran airplane. For example, the electronic device may include any itemthat interfaces with or controls a functional element of the item. Inanother example, the thin computing device may be included in animplantable medical apparatus or device. In a further example, the thincomputing device may be operable to communicate with an implantable orimplanted medical apparatus. For example, a thin computing device mayinclude a computing device having limited resources or limitedprocessing capability, such as a limited resource computing device, awireless communication device, a mobile wireless communication device, asmart phone, an electronic pen, a handheld electronic writing device, ascanner, a cell phone, a smart phone (such as an Android® or iPhone®based device), a tablet device (such as an iPad®) or a Blackberry®device. For example, a thin computing device may include a thin clientdevice or a mobile thin client device, such as a smart phone, tablet,notebook, or desktop hardware configured to function in a virtualizedenvironment.

The thin computing device 20 includes a processing unit 21, a systemmemory 22, and a system bus 23 that couples various system componentsincluding the system memory 22 to the processing unit 21. The system bus23 may be any of several types of bus structures including a memory busor memory controller, a peripheral bus, and a local bus using any of avariety of bus architectures. The system memory includes read-onlymemory (ROM) 24 and random access memory (RAM) 25. A basic input/outputsystem (BIOS) 26, containing the basic routines that help to transferinformation between sub-components within the thin computing device 20,such as during start-up, is stored in the ROM 24. A number of programmodules may be stored in the ROM 24 or RAM 25, including an operatingsystem 28, one or more application programs 29, other program modules 30and program data 31.

A user may enter commands and information into the computing device 20through one or more input interfaces. An input interface may include atouch-sensitive screen or display surface, or one or more switches orbuttons with suitable input detection circuitry. A touch-sensitivescreen or display surface is illustrated as a touch-sensitive display 32and screen input detector 33. One or more switches or buttons areillustrated as hardware buttons 44 connected to the system via ahardware button interface 45. The output circuitry of thetouch-sensitive display 32 is connected to the system bus 23 via a videodriver 37. Other input devices may include a microphone 34 connectedthrough a suitable audio interface 35, or a physical hardware keyboard(not shown). Output devices may include the display 32, or a projectordisplay 36.

In addition to the display 32, the computing device 20 may include otherperipheral output devices, such as at least one speaker 38. Otherexternal input or output devices 39, such as a joystick, game pad,satellite dish, scanner or the like may be connected to the processingunit 21 through a USB port 40 and USB port interface 41, to the systembus 23. Alternatively, the other external input and output devices 39may be connected by other interfaces, such as a parallel port, game portor other port. The computing device 20 may further include or be capableof connecting to a flash card memory (not shown) through an appropriateconnection port (not shown). The computing device 20 may further includeor be capable of connecting with a network through a network port 42 andnetwork interface 43, and through wireless port 46 and correspondingwireless interface 47 may be provided to facilitate communication withother peripheral devices, including other computers, printers, and so on(not shown). It will be appreciated that the various components andconnections shown are examples and other components and means ofestablishing communication links may be used.

The computing device 20 may be primarily designed to include a userinterface. The user interface may include a character, a key-based, oranother user data input via the touch sensitive display 32. The userinterface may include using a stylus (not shown). Moreover, the userinterface is not limited to an actual touch-sensitive panel arranged fordirectly receiving input, but may alternatively or in addition respondto another input device such as the microphone 34. For example, spokenwords may be received at the microphone 34 and recognized.Alternatively, the computing device 20 may be designed to include a userinterface having a physical keyboard (not shown).

The device functional elements 50 are typically application specific andrelated to a function of the electronic device, and are coupled with thesystem bus 23 through an interface (not shown). The functional elementsmay typically perform a single well-defined task with little or no userconfiguration or setup, such as a refrigerator keeping food cold, a cellphone connecting with an appropriate tower and transceiving voice ordata information, a camera capturing and saving an image, orcommunicating with an implantable medical apparatus.

In certain instances, one or more elements of the thin computing device20 may be deemed not necessary and omitted. In other instances, one ormore other elements may be deemed necessary and added to the thincomputing device.

FIG. 2 and the following discussion are intended to provide a brief,general description of an environment in which embodiments may beimplemented. FIG. 2 illustrates an example embodiment of ageneral-purpose computing system in which embodiments may beimplemented, shown as a computing system environment 100. Components ofthe computing system environment 100 may include, but are not limitedto, a general purpose computing device 110 having a processor 120, asystem memory 130, and a system bus 121 that couples various systemcomponents including the system memory to the processor 120. The systembus 121 may be any of several types of bus structures including a memorybus or memory controller, a peripheral bus, and a local bus using any ofa variety of bus architectures. By way of example, and not limitation,such architectures include Industry Standard Architecture (ISA) bus,Micro Channel Architecture (MCA) bus, Enhanced ISA (EISA) bus, VideoElectronics Standards Association (VESA) local bus, and PeripheralComponent Interconnect (PCI) bus, also known as Mezzanine bus.

The computing system environment 100 typically includes a variety ofcomputer-readable media products. Computer-readable media may includeany media that can be accessed by the computing device 110 and includeboth volatile and nonvolatile media, removable and non-removable media.By way of example, and not of limitation, computer-readable media mayinclude computer storage media. By way of further example, and not oflimitation, computer-readable media may include a communication media.

Computer storage media includes volatile and nonvolatile, removable andnon-removable media implemented in any method or technology for storageof information such as computer-readable instructions, data structures,program modules, or other data. Computer storage media includes, but isnot limited to, random-access memory (RAM), read-only memory (ROM),electrically erasable programmable read-only memory (EEPROM), flashmemory, or other memory technology, CD-ROM, digital versatile disks(DVD), or other optical disk storage, magnetic cassettes, magnetic tape,magnetic disk storage, or other magnetic storage devices, or any othermedium which can be used to store the desired information and which canbe accessed by the computing device 110. In a further embodiment, acomputer storage media may include a group of computer storage mediadevices. In another embodiment, a computer storage media may include aninformation store. In another embodiment, an information store mayinclude a quantum memory, a photonic quantum memory, or atomic quantummemory. Combinations of any of the above may also be included within thescope of computer-readable media.

Communication media may typically embody computer-readable instructions,data structures, program modules, or other data in a modulated datasignal such as a carrier wave or other transport mechanism and includeany information delivery media. The term “modulated data signal” means asignal that has one or more of its characteristics set or changed insuch a manner as to encode information in the signal. By way of example,and not limitation, communications media may include wired media, suchas a wired network and a direct-wired connection, and wireless mediasuch as acoustic, RF, optical, and infrared media.

The system memory 130 includes computer storage media in the form ofvolatile and nonvolatile memory such as ROM 131 and RAM 132. A RAM mayinclude at least one of a DRAM, an EDO DRAM, a SDRAM, a RDRAM, a VRAM,or a DDR DRAM. A basic input/output system (BIOS) 133, containing thebasic routines that help to transfer information between elements withinthe computing device 110, such as during start-up, is typically storedin ROM 131. RAM 132 typically contains data and program modules that areimmediately accessible to or presently being operated on by theprocessor 120. By way of example, and not limitation, FIG. 2 illustratesan operating system 134, application programs 135, other program modules136, and program data 137. Often, the operating system 134 offersservices to applications programs 135 by way of one or more applicationprogramming interfaces (APIs) (not shown). Because the operating system134 incorporates these services, developers of applications programs 135need not redevelop code to use the services. Examples of APIs providedby operating systems such as Microsoft's “WINDOWS”® are well known inthe art.

The computing device 110 may also include other removable/non-removable,volatile/nonvolatile computer storage media products. By way of exampleonly, FIG. 2 illustrates a non-removable non-volatile memory interface(hard disk interface) 140 that reads from and writes for example tonon-removable, non-volatile magnetic media. FIG. 2 also illustrates aremovable non-volatile memory interface 150 that, for example, iscoupled to a magnetic disk drive 151 that reads from and writes to aremovable, non-volatile magnetic disk 152, or is coupled to an opticaldisk drive 155 that reads from and writes to a removable, non-volatileoptical disk 156, such as a CD ROM. Other removable/non-removable,volatile/non-volatile computer storage media that can be used in theexample operating environment include, but are not limited to, magnetictape cassettes, memory cards, flash memory cards, DVDs, digital videotape, solid state RAM, and solid state ROM. The hard disk drive 141 istypically connected to the system bus 121 through a non-removable memoryinterface, such as the interface 140, and magnetic disk drive 151 andoptical disk drive 155 are typically connected to the system bus 121 bya removable non-volatile memory interface, such as interface 150.

The drives and their associated computer storage media discussed aboveand illustrated in FIG. 2 provide storage of computer-readableinstructions, data structures, program modules, and other data for thecomputing device 110. In FIG. 2, for example, hard disk drive 141 isillustrated as storing an operating system 144, application programs145, other program modules 146, and program data 147. Note that thesecomponents can either be the same as or different from the operatingsystem 134, application programs 135, other program modules 136, andprogram data 137. The operating system 144, application programs 145,other program modules 146, and program data 147 are given differentnumbers here to illustrate that, at a minimum, they are differentcopies.

A user may enter commands and information into the computing device 110through input devices such as a microphone 163, keyboard 162, andpointing device 161, commonly referred to as a mouse, trackball, ortouch pad. Other input devices (not shown) may include at least one of atouch-sensitive screen or display surface, joystick, game pad, satellitedish, and scanner. These and other input devices are often connected tothe processor 120 through a user input interface 160 that is coupled tothe system bus, but may be connected by other interface and busstructures, such as a parallel port, game port, or a universal serialbus (USB).

A display 191, such as a monitor or other type of display device orsurface may be connected to the system bus 121 via an interface, such asa video interface 190. A projector display engine 192 that includes aprojecting element may be coupled to the system bus. In addition to thedisplay, the computing device 110 may also include other peripheraloutput devices such as speakers 197 and printer 196, which may beconnected through an output peripheral interface 195.

The computing system environment 100 may operate in a networkedenvironment using logical connections to one or more remote computers,such as a remote computer 180. The remote computer 180 may be a personalcomputer, a server, a router, a network PC, a peer device, or othercommon network node, and typically includes many or all of the elementsdescribed above relative to the computing device 110, although only amemory storage device 181 has been illustrated in FIG. 2. The networklogical connections depicted in FIG. 2 include a local area network(LAN) and a wide area network (WAN), and may also include other networkssuch as a personal area network (PAN) (not shown). Such networkingenvironments are commonplace in offices, enterprise-wide computernetworks, intranets, and the Internet.

When used in a networking environment, the computing system environment100 is connected to the network 171 through a network interface, such asthe network interface 170, the modem 172, or the wireless interface 193.The network may include a LAN network environment, or a WAN networkenvironment, such as the Internet. In a networked environment, programmodules depicted relative to the computing device 110, or portionsthereof, may be stored in a remote memory storage device. By way ofexample, and not limitation, FIG. 2 illustrates remote applicationprograms 185 as residing on memory storage device 181. It will beappreciated that the network connections shown are examples and othermeans of establishing a communication link between the computers may beused.

In certain instances, one or more elements of the computing device 110may be deemed not necessary and omitted. In other instances, one or moreother elements may be deemed necessary and added to the computingdevice.

FIGS. 3 and 4 schematically illustrate an example environment 200 inwhich embodiments may be implemented. FIG. 3 includes a plan view andFIG. 4 includes a side view. The environment includes a vehicle 280traveling in a direction 288 across a surface 290, such as a paved roadhaving an aggregate surface or other surface defining a driving surface.In an embodiment, the vehicle includes front wheels 282.1 and 282.2,rear wheels 282.3 and 282.4, and a passenger compartment 284. FIG. 4illustrates a portion 294 of a surface of a possible collision avoidancepath 292. Also illustrated is a system 220.

FIG. 5 schematically illustrates an embodiment of the system 220 ofFIGS. 3 and 4. The system includes a surface evaluation circuit 222configured to determine a surface traction characteristic of at leastthe portion 294 of the surface of the possible collision avoidance path292 of the vehicle 280. For example, the possible collision avoidancepath may be generated by a collision avoidance circuit 232. For example,the surface traction characteristic may be responsive to surface data ofthe driving surface acquired by an on-board sensor 270 scanning 272 oneor more portions of the surface of the possible collision avoidancepath. The system includes a rating circuit 224 configured to assign arisk value to the possible collision avoidance path responsive to thedetermined surface traction characteristic. For example, a risk value ofzero may be assigned to a surface of a relatively new andwell-constructed asphalt road surface, a risk value of one may beassigned to a worn or alligatored asphalt road surface, a risk value oftwo may be assigned to a compacted dirt surface, a risk value of threemay be assigned to a potholed or sloping away surface, and a risk valueof four assigned to a snow or ice covered surface. The system includes aselector circuit 226 having a rule-set configured to select a collisionavoidance path from at least two possible collision avoidance paths. Therule-set is responsive to an evaluation of the respective assigned riskvalue for each of the at least two possible collision avoidance paths.In an embodiment, the rule set is responsive to an evaluation of therespective assigned risk value for each of the at least two possiblecollision avoidance paths. In an embodiment, the surface tractioncharacteristic includes a surface characteristic that affects a handlingcharacteristic of the vehicle 280. For example, the surface tractioncharacteristic may include a surface traction coefficient. For example,the surface traction characteristic may be nonlinear, such a function ofor depending on vehicle speed, contact time, or the like. For example,the surface traction characteristic may affect longitudinal or lateraltraction.

In an embodiment, the portion of the driving surface 292 includes adegraded driving surface. For example, the portion of the drivingsurface may include a shoulder, ditch, or potholed surface. In anembodiment, the degraded driving surface includes a surface degraded bya presence of water, marsh, brush, rock, sand, dirt, grass, or snow. Forexample, the degraded driving surface may have a different/degradedtraction compared to normal road, or present a resistance to a wheel ofthe vehicle. In an embodiment, the degraded driving surface includes asurface not reasonably expected to support a wheel of the vehicle. In anembodiment, the portion of the driving surface includes an on-road oroff-road portion of the driving surface. In an embodiment, the surfacetraction characteristic is determined in response to data indicative ofa condition of the at least a portion of the surface. For example, acondition may include dirt, rain, mud, ice, or weather condition. Forexample, a condition may include a surface change or a transition fromone surface to another. For example, the at least a portion of thepotential path may involve one or more of wheels of the vehicle beingoff-road. In an embodiment, the surface traction characteristic includesa combination of a first surface traction characteristic of a portion ofa driving surface of a possible collision avoidance path likely to betraversed by a first wheel of the vehicle and a second surface tractioncharacteristic of the portion of the driving surface likely to betraversed by a second wheel of the vehicle.

In an embodiment, the data indicative of a condition of at least aportion of the surface is acquired by the sensor 270 carried on-boardthe vehicle 280. In an embodiment, the possible collision avoidance pathincludes a possible collision avoidance path where at least one wheel ofthe vehicle is off-road during at least a portion of the collisionavoidance path.

In an embodiment, the assigned risk value is based upon a capability ofthe vehicle 280 to respond to the determined surface tractioncharacteristic. For example, the capability of the vehicle may includeanticipated handling ability or capability of the vehicle to follow orimplement the possible collision avoidance path. For example, ananticipated handling ability or capability of the vehicle may includeall-wheel drive, suitable tires, or a sophistication of its vehiclecontrol system. In an embodiment, the assigned risk value is responsiveto a capability of the vehicle to respond to the determined surfacetraction characteristic in view of the vehicle's existing speed orexisting weather conditions. In an embodiment, the assigned risk valueis responsive to a machine-learned capability of the vehicle to respondto the determined surface traction characteristic. For example, themachine learning may be implemented by a machine learning circuit 228.For example, the machine learning circuit may include a learningalgorithm or system configured to take into account worn tires orshocks, or load carried by vehicle. In an embodiment, the rule-set isstructured to select the collision path having the lowest risk value. Inan embodiment, the rule set is responsive to a comparison of therespective assigned risk value for each of the at least two possiblecollision avoidance paths.

In an embodiment, the system 220 includes the collision avoidancecircuit 232 configured to generate a collision avoidance instructionresponsive to the selected collision avoidance path. In an embodiment,the collision avoidance circuit is further configured to generate atleast two possible collision avoidance paths of the vehicle 280responsive to data indicative of an environment or situation indicatinga possible collision threat. For example, United States Pat. App. Pub2010/0228427, Anderson et al., describes predicting a vehicletrajectory. In an embodiment, the system includes a display device 234configured to display a human perceivable presentation of an aspect ofthe selected collision avoidance path. In an embodiment, the systemincludes a vehicle operations controller 236 configured to initiate animplementation of an aspect of the selected collision avoidance path bya control system of the vehicle. In an embodiment, the vehicleoperations controller includes a steering controller of the vehicle. Inan embodiment, the vehicle operations controller includes a brakingcontroller of the vehicle. In an embodiment, the vehicle operationscontroller includes a throttle controller of the vehicle. In anembodiment, the vehicle operations controller is further configured toinitiate an implementation of an aspect of the selected collisionavoidance path by the vehicle by preparing for the surface tractioncharacteristic ahead of the selection of the collision avoidance path.For example, a preparing may include setting a wheel angle, set a speedof the vehicle, or adjusting a suspension component of the vehicle.

In an embodiment, the system 220 includes a communication circuit 238configured to output a signal indicative of the selected collisionavoidance path. In an embodiment, the communication circuit includes awireless communication circuit 239. In an embodiment, the systemincludes a sensor 270 configured to acquire the data indicative of thecondition of a portion 294 of the surface of the possible collisionavoidance path 292. For example, United States Pat. App. Pub.2013/0103259, Howe et al., describes receiving road information fromvehicle carried vision system. In an embodiment, the sensor isconfigured to be mounted on the vehicle. In an embodiment, the systemincludes another sensor configured to acquire data indicative of anenvironment or situation external to the collision-managed vehicle. Inan embodiment, the another sensor is configured to be mounted on thevehicle. In an embodiment, the system includes a computer readablestorage media 248 configured to save the selected collision avoidancepath. In an embodiment, the system 220 includes a computing device 242.In an embodiment, the device may include the thin computing device 20illustrated in the computing environment 19 described in conjunctionwith FIG. 1. In an embodiment, the device may include the generalpurpose computing device 110 described in conjunction with the generalpurpose computing environment 100.

FIGS. 3-5 illustrate an alternative embodiment of the vehicle 280. Inthe alternative embodiment, the vehicle includes a chassis, at least twowheels, a propulsion system, and a body. In an embodiment, the vehicle280 includes a terrestrial vehicle. For example, a terrestrial vehiclemay include a car or a truck. The vehicle includes the surfaceevaluation circuit 222 configured to determine a surface tractioncharacteristic of at least a portion 294 of a driving surface of apossible collision avoidance path 292 of the vehicle. The vehicleincludes the rating circuit 224 configured to assign a risk value to thepossible collision avoidance path responsive to the determined surfacetraction characteristic. The vehicle includes the selector circuit 226having a rule-set configured to select a collision avoidance path fromat least two possible collision avoidance paths. The rule-set isresponsive to an evaluation of a respective assigned risk value for eachof the at least two possible collision avoidance paths.

In an embodiment, the vehicle 280 includes the vehicle operationscontroller 236 configured to initiate an implementation of an aspect ofthe selected collision avoidance path by a control system of thevehicle. In an embodiment, the vehicle includes the display device 234configured to display a human perceivable presentation of an aspect ofthe selected collision avoidance path. In an embodiment, the vehicleincludes a computing device 242.

FIGS. 4 and 5 also illustrate an alternative embodiment of the system220. In the alternative embodiment, the system includes the sensor 270configured to detect a first surface traction characteristic of apossible path of the vehicle 280 and provide a first sensor signalrepresentative of the first surface traction characteristic. In thealternative embodiment, the system includes a decision circuitconfigured to receive the first sensor signal. The decision circuit isconfigured to determine, based on the first sensor signal and acalculated risk, whether to provide a path deviation signal. The pathdeviation signal including information representative of risk to stayingon the possible path of the vehicle.

FIG. 6 illustrates an example operational flow 300. After a startoperation, the operational flow includes an evaluation operation 310.The evaluation operation includes determining a surface tractioncharacteristic of at least a portion of a driving surface of a possiblecollision avoidance path of a vehicle. In an embodiment, the evaluationoperation may be implemented using the surface evaluation circuit 222described in conjunction with FIG. 5. A rating operation 320 includesassigning a risk value to the possible collision avoidance path inresponse to the determined surface traction characteristic. In anembodiment, the rating operation may be implemented using the ratingcircuit 224 described in conjunction with FIG. 5. A choosing operation330 includes selecting a collision avoidance path from at least twopossible collision avoidance paths, the selecting responsive to anevaluation of an assigned risk value for each of the at least twopossible collision avoidance paths. In an embodiment, the choosingoperation may be implemented using the selector circuit 226 described inconjunction with FIG. 5. The operational flow includes an end operation.

In an embodiment, the operational flow 300 includes an operation 340displaying a human perceivable presentation of an aspect of the selectedcollision avoidance path. In an embodiment, the operational flowincludes an operation 350 initiating an implementation of an aspect ofthe selected collision avoidance path by a control system of thevehicle. In an embodiment, the operational flow includes an operation360 acquiring the data indicative of the condition of the drivingsurface of the possible collision avoidance path. In an embodiment, theoperational flow includes outputting the selected collision avoidancepath. For example, the selected collision avoidance path may beoutputted to the vehicle operations controller 236 or the display device234. For example, the selected collision avoidance path may be outputtedto and stored by the computer readable storage media 248, or may bewirelessly communicated 239 to another device or system.

FIGS. 7 and 8 schematically illustrate an environment 400 in whichembodiments may be implemented, and which includes the vehicle 280 ofFIG. 3. FIG. 3 includes a plan view of the vehicle 280 and FIG. 4includes a side view of the vehicle in the environment 400. Theenvironment includes the vehicle 280 traveling in the direction 288across the surface 290, such as a paved road having an aggregate surfaceor other surface defining a driving surface. In an embodiment, thevehicle includes front wheels 282.1 and 282.2, rear wheels 282.3 and282.4, and a passenger compartment 284.

FIG. 7 illustrates an adverse circumstance 494 present in a possiblecollision avoidance path 492 of the vehicle 280. Also illustrated is asystem 420. FIG. 8 schematically illustrates an embodiment of thesystem. The system includes an evaluation circuit 422 configured todetermine a characteristic of the adverse circumstance present in apossible collision avoidance path 472 of the vehicle. For example, thepossible collision avoidance path may be generated by a collisionavoidance circuit 428. The system includes a rating circuit 424configured to assign a risk value to the possible collision avoidancepath responsive to the determined characteristic of the adversecircumstance. The system includes a selector circuit 426. The selectorcircuit includes a rule-set structured to select a collision avoidancepath from at least two possible collision avoidance paths in response toan evaluation of a respective assigned risk value for each of the atleast two possible collision avoidance paths.

In an embodiment, the characteristic of an adverse circumstance includesa characteristic of another vehicle present in the possible collisionavoidance path 492. In an embodiment, the characteristic of the anothervehicle includes at least one of a size, weight, location, speed, orbehavior of the other vehicle. In an embodiment, the characteristic ofthe another vehicle includes a predicted consequence of a collisionbetween the vehicle and the another vehicle. In an embodiment, thecharacteristic of an adverse circumstance includes a characteristic ofat least a portion of an adverse driving surface of the possiblecollision avoidance path. For example, the characteristic of the adversedriving surface may include ice, potholes, or a cliff. In an embodiment,the characteristic of an adverse circumstance includes a characteristicof an adverse object present in the possible collision avoidance path.For example, the adverse object may include an adverse object impedingor obstructing the possible collision avoidance path. For example, theadverse object may be a static or a moving adverse object. In anembodiment, the characteristic of an adverse circumstance includes acharacteristic of an adverse situation present in the possible collisionavoidance path. In an embodiment, the adverse circumstance includes acircumstance adverse to the vehicle successfully transiting the possiblecollision avoidance path. In an embodiment, the characteristic of anadverse circumstance includes a characteristic of an adverse conditionpresent in the possible collision avoidance path. In an embodiment, thecharacteristic of an adverse circumstance is determined in response todata indicative of the adverse circumstance present in the possiblecollision avoidance path of the vehicle.

In an embodiment, the risk value is assigned based upon a capability ofthe vehicle 280 to travel the possible collision avoidance path 492. Forexample, a capability of the vehicle may include a handling capabilityof its suspension, tires, or brakes to successfully or safely travel thepossible collision avoidance path. For example, the handling capabilitymay be learned or modified by a machine-learning circuit, such as themachine learning circuit 228 described in conjunction with FIG. 5, ormay be provided by the vehicle manufacturer. In an embodiment, therating circuit 424 is further configured to assign an uncertainty to theassigned risk value of the possible collision path. In an embodiment,the assigned uncertainty is responsive to a confidence level in theassigned risk value. In an embodiment, the assigned uncertainty isresponsive to a range of reasonable confidence levels in the assignedrisk value. For example, a range of reasonable confidence levels for aparticular risk value may be between 20% and 80%. In an embodiment, theassigned uncertainty is responsive to a three-point estimationtechnique. For example, a three-point estimation technique may include abest-case estimate, a most likely estimate, and a worst-case estimate.In an embodiment, the assigned uncertainty includes a risk probabilitydistribution. For example, the risk probability value R(0.30) indicatesthat there is a 30% confidence that the risk factor is less thanR(0.30); likewise the risk probability value R(0.90) indicates thatthere is a 90% confidence that the risk factor is less than R(0.90). Itshould be appreciated that in some situations, the assigned riskprobability values may not accurately reflect reality, but simplyreflect the confidence currently (and perhaps inaccurately) held by therating circuit in various risk values.

In an embodiment, the selector circuit 426 includes a rule-setstructured to select a collision avoidance path from at least twopossible collision avoidance paths. The selection is responsive to anevaluation of a respective assigned risk value and an assigneduncertainty for each of the at least two possible collision avoidancepaths. In an embodiment, the selector circuit includes a rule-setstructured to select a collision avoidance path from at least twopossible collision avoidance paths. The selection is in response to anevaluation of a respective assigned risk value for each of the at leasttwo possible collision avoidance paths—wherein a first assigned riskvalue for a first possible collision avoidance path is responsive to afirst type of adverse circumstance and a second assigned risk value fora second possible collision avoidance path is responsive to a secondtype of adverse circumstance. For example, the first risk value may beassigned to an icy driving surface circumstance in the first possiblecollision avoidance path and the second risk value may be assigned to aparked car circumstance in the second possible collision avoidance path.In an embodiment, the selector circuit includes a rule-set structured toselect the collision avoidance path having the lowest risk value from atleast two possible collision avoidance paths. In an embodiment, theselector circuit includes a rule-set structured to select the collisionavoidance path having the lowest risk value for a selected uncertaintylevel from at least two possible collision avoidance paths. For example,the rule-set may select a collision avoidance path which has a higheraverage risk factor, but whose worst case risk factor is lower.

In an embodiment, the system 420 includes a collision avoidance circuit428 configured to generate a collision avoidance instruction responsiveto the selected collision avoidance path. In an embodiment, the systemincludes a collision avoidance circuit configured to generate at leasttwo possible collision avoidance paths of the vehicle 280 responsive toan environment or situation indicating a possible collision threat. Inan embodiment, the system includes a display device 432 configured todisplay a human perceivable presentation of an aspect of the selectedcollision avoidance path. In an embodiment, the system includes avehicle operations controller 434 configured to initiate animplementation of an aspect of the selected collision avoidance path bya control system of the vehicle. In an embodiment, the system includes asensor 470 configured to acquire data indicative of the adversecircumstance present in the possible collision avoidance path 492 of thevehicle. In an embodiment, the system includes another sensor configuredto acquire data indicative of an environment or situation external tothe vehicle. In an embodiment, the system includes a communicationcircuit 436 configured to output a signal indicative of the selectedcollision avoidance path. In an embodiment, the communication circuitincludes a wireless communication circuit 437. In an embodiment, thesystem includes a computing device 438. In an embodiment, the device mayinclude the thin computing device 20 illustrated in the computingenvironment 19 described in conjunction with FIG. 1. In an embodiment,the device may include the general purpose computing device 110described in conjunction with the general purpose computing environment100. In an embodiment, the system includes a computer readable storagemedia 448 configured to save the selected collision avoidance path.

FIG. 9 illustrates an example operational flow 500. After a startoperation, the operational flow includes a first evaluation operation510. The first evaluation operation includes determining acharacteristic of a first adverse circumstance present in a firstpossible collision avoidance path of a vehicle. In an embodiment, thefirst evaluation operation may be implemented using the evaluationcircuit 422 described in conjunction with FIG. 8. A first ratingoperation 520 includes assigning a first risk value to the firstpossible collision avoidance path responsive to the determinedcharacteristic of the first adverse circumstance. In an embodiment, thefirst rating operation may be implemented using the rating circuit 424described in conjunction with FIG. 8. A second evaluation operation 530includes determining a characteristic of a second adverse circumstancepresent in a second possible collision avoidance path of the vehicle. Inan embodiment, second evaluation operation may be implemented using theevaluation circuit 422 described in conjunction with FIG. 8. A secondrating operation 540 includes assigning a second risk value to thesecond possible collision avoidance path responsive to the determinedcharacteristic of the second adverse circumstance. In an embodiment, thesecond rating operation may be implemented using the rating circuit 424described in conjunction with FIG. 8. A choosing operation 550 includesselecting a collision avoidance path from the first possible collisionavoidance path or the second possible collision avoidance path inresponse to an evaluation of the first risk value and the second riskvalue. In an embodiment, the choosing operation may be implemented usingthe selector circuit 426 described in conjunction with FIG. 8. Acommunication operation 560 includes outputting the selected collisionavoidance path. For example, the selected collision avoidance path maybe outputted to the vehicle operations controller 434 or the displaydevice 432. For example, the selected collision avoidance path may beoutputted to and stored by the computer readable storage media 248, ormay be communicated by the communications circuit 436 to another deviceor system. The operational flow includes an end operation. In anembodiment, the operational flow may be implemented in a computingdevice.

In an embodiment, the operational flow 400 includes generating acollision avoidance instruction responsive to the selected collisionavoidance path. In an embodiment, the operational flow includesgenerating at least two possible collision avoidance paths of thevehicle responsive to an environment or situation indicating a possiblecollision threat. In an embodiment, the operational flow includesdisplaying a human perceivable presentation of an aspect of the selectedcollision avoidance path. In an embodiment, the operational flowinitiating an implementation of an aspect of the selected collisionavoidance path by a control system of the vehicle. In an embodiment, theoperational flow includes acquiring data indicative of the first adversecircumstance present in the possible first collision avoidance path ofthe vehicle; and includes acquiring data indicative of the secondadverse circumstance present in the possible second collision avoidancepath of the vehicle. In an embodiment, the operational flow includessaving the selected collision avoidance path in a computer readablemedium.

FIG. 10 illustrates an example operational flow 600. After a startoperation, the operational flow includes a first evaluation operation610. The first evaluation operation includes determining acharacteristic of a first adverse circumstance present in a firstpossible collision avoidance path of a vehicle. In an embodiment, thefirst evaluation operation may be implemented using the evaluationcircuit 722 described in conjunction with FIG. 12. A first ratingoperation 620 includes assigning a first risk value to the firstpossible collision avoidance path responsive to the determinedcharacteristic of the first adverse circumstance. In an embodiment, thefirst rating operation may be implemented using the rating circuit 724described in conjunction with FIG. 12. A first probability distributionoperation 630 includes assigning a first uncertainty to the first riskvalue. In an embodiment, the first probability distribution operationmay be implemented using an embodiment of the uncertainty assessmentcircuit 726 described in conjunction with FIG. 12. A second evaluationoperation 640 includes determining a characteristic of a second adversecircumstance present in a second possible collision avoidance path ofthe vehicle. A second rating operation 650 includes assigning a secondrisk value to the second possible collision avoidance path responsive tothe determined characteristic of the second adverse circumstance. Asecond probability distribution operation 660 includes assigning asecond uncertainty to the second risk value. A choosing operation 670includes selecting a collision avoidance path from the first possiblecollision avoidance path and the second possible collision avoidancepath. The collision avoidance path is chosen in response to anevaluation of the first risk value and the first uncertainty assigned tothe first risk value in view of the second risk value and the seconduncertainty assigned to the second risk value. In an embodiment, thechoosing operation may be implemented using the comparator circuit 728described in conjunction with FIG. 12. A communication operation 680includes outputting the selected collision avoidance path. For example,the selected collision avoidance path may be outputted to the vehicleoperations controller 750 or the display device 734. For example, theselected collision avoidance path may be outputted to and stored by thecomputer readable storage media 248, or may be communicated by thecommunications circuit 738 to another device or system. The operationalflow includes an end operation. In an embodiment, the operational flowmay be implemented in a computing device 742.

In an embodiment, the operational flow 600 includes displaying a humanperceivable presentation of an aspect of the selected collisionavoidance path. In an embodiment, the operational flow 600 includesinitiating an implementation of an aspect of the selected collisionavoidance path by a control system of the vehicle.

FIG. 11 illustrates an environment 700 that includes an adversecircumstance 494 present in a possible collision avoidance path 492 of avehicle 280. Also illustrated is a system 720. FIG. 12 schematicallyillustrates an embodiment of the system. The system includes anevaluation circuit 722 configured to determine a characteristic of theadverse circumstance present in the possible collision avoidance path ofthe vehicle. The system includes a rating circuit 724 configured toassign a risk value to the possible collision avoidance path responsiveto the determined characteristic of the adverse circumstance. The systemincludes an uncertainty assessment circuit 726 configured to assign anuncertainty to the risk value. The system includes a comparator circuit728 configured to determine if the risk value of the possible collisionavoidance path and the uncertainty in a combination meet a thresholdcriteria. In one embodiment, the risk values and uncertainty arecombined to yield a worst case risk value, rather than a maximumlikelihood risk value. In another embodiment, the risk values anduncertainty are combined to yield a risk value in which a specifiedconfidence exists; this may be biased towards optimistic (e.g., R(0.30))values or more pessimistic (e.g., R(0.80)) ones. In some embodiments,other functional combinations of risk values and uncertainties can beselected by the comparator circuit 728. The system includes acommunication circuit 738 configured to output the possible collisionavoidance path as a selected collision avoidance path if the thresholdcriteria is met. In an embodiment, the communication circuit may includea wireless communication circuit 739.

In an embodiment, the system 720 includes a collision avoidance circuit730 configured to generate at least two possible collision avoidancepaths of the vehicle 280 responsive to an environment or situationindicating a possible collision threat. This embodiment also includes aniteration manager circuit 732 configured to initiate, upon adetermination that a first of the at least two possible collisionavoidance paths does not meet the threshold criteria, a determination ifa second of the at least two collision avoidance paths meets thethreshold criteria. In an embodiment of the system, the comparatorcircuit 728 is configured to compare the combination of the first riskvalue of the first possible collision avoidance path and the firstuncertainty with respect to the combination of the second risk value ofthe second possible collision avoidance path and the second uncertainty.In this embodiment of the system, the communication circuit isconfigured to select a collision avoidance path from the first possiblecollision avoidance path or the second possible collision avoidance pathin response to the comparing, and output the selected collisionavoidance path. In an embodiment, the system includes an instructiongenerator configured to generate a collision avoidance instructionresponsive to the selected collision avoidance path. The instructiongenerator may be implemented by the computing device 742. In anembodiment, the computing device may include the thin computing device20 illustrated in the computing environment 19 described in conjunctionwith FIG. 1. In an embodiment, the computing device may include thegeneral purpose computing device 110 described in conjunction with thegeneral purpose computing environment 100.

In an embodiment, the system 720 includes a display device 734configured to display a human perceivable presentation of an aspect ofthe selected collision avoidance path. In an embodiment, the systemincludes a vehicle operations controller 736 configured to initiate animplementation of an aspect of the selected collision avoidance path bythe vehicle operations controller 750 of the vehicle 280. In anembodiment, the system includes the sensor 470 configured to acquiredata indicative of the adverse circumstance 494 present in the possiblecollision avoidance path 492 of the vehicle.

FIG. 13 illustrates an example operational flow 800. After a startoperation, the operational flow includes a first evaluation operation810. The first evaluation operation includes determining acharacteristic of a first adverse circumstance present in a firstpossible collision avoidance path of a vehicle. In an embodiment, theevaluation operation may be implemented using the evaluation circuit 722described in conjunction with FIG. 12. A first rating operation 820includes assigning a first risk value to the first possible collisionavoidance path responsive to the determined characteristic of the firstadverse circumstance. For example a first risk value may include a 45%chance of being able to follow the first possible collision avoidancepath because of an exposure to ice or a car partially parked in thepath. For example, the first risk value may express an evaluation of arisk relative to achieving a target or objective, i.e., following thefirst collision avoidance path. In an embodiment, the rating operationmay be implemented using rating circuit 724 described in conjunctionwith FIG. 12. A first probability distribution operation 830 includesassigning a first uncertainty to the first risk value. For example,uncertainty may be measured relative an expected value or objective. Theprobability distribution operation may be implemented using theuncertainty assessment circuit 726 described in conjunction with FIG.12. A first thresholding operation 840 includes determining if the firstrisk value of the first possible collision avoidance path and the firstuncertainty in a combination meet a threshold criteria. For example, thefirst thresholding operation may include combining the risk value anduncertainty into a dimensionless score, and comparing the dimensionlessscore to a dimensionless threshold criteria. In an embodiment, thethresholding operation may be implemented using the comparator circuit728 described in conjunction with FIG. 12. A communicating operation 850includes outputting the first possible collision avoidance path as aselected collision avoidance path if the threshold criteria is met. Forexample, the selected collision avoidance path may be outputted to thevehicle operations controller 736 or the display device 734. Forexample, the selected collision avoidance path may be outputted to andstored by the computer readable storage media 248, or may becommunicated by the communications circuit 738 to another device orsystem. The operational flow includes an end operation. In anembodiment, the operational flow may be implemented in a computingdevice 742.

In an embodiment, the threshold criteria is specified by a driver oroccupant of the vehicle, or a manufacturer of the vehicle. In anembodiment, the threshold criteria is based on a driving experiencelevel of a driver of the vehicle. In an embodiment, the thresholdcriteria is based on a current visibility level. In an embodiment, thethreshold criteria is structured to respond to or accommodate at leasttwo different types of risks with a single criteria or factor. Forexample, a first risk may include ice on the path and a second risk mayinclude an object partially obstructing the path.

In an embodiment, the operation flow 800 includes displaying a humanperceivable presentation of an aspect of the selected collisionavoidance path. In an embodiment, the operation flow includes initiatingan implementation of an aspect of the selected collision avoidance pathby a control system of the vehicle. In an embodiment, the operation flowincludes generating a collision avoidance instruction responsive to theselected collision avoidance path. For example, the generatedinstruction may be a human or machine useable instruction.

FIG. 14 illustrates an alternative embodiment of the operational flow800 of FIG. 13. In the alternative embodiment, the operational flowincludes a second evaluation operation 860. The second evaluationoperation includes determining a characteristic of a second adversecircumstance present in a second possible collision avoidance path ofthe vehicle. A second rating operation 870 includes assigning a secondrisk value to the second possible collision avoidance path responsive tothe determined characteristic of the second adverse circumstance. Asecond probability distribution operation 880 includes assigning asecond uncertainty to the second risk value. A second thresholdingoperation 890 includes determining if the second risk value of thesecond possible collision avoidance path and the second uncertainty in acombination meet the threshold criteria. A second communicatingoperation includes outputting the second possible collision avoidancepath as the selected collision avoidance path if the threshold criteriais met. The alternative embodiment of the operational flow includes anend operation.

In an embodiment, the second evaluation operation 860 includesdetermining, if the threshold criteria is not met by the first possiblecollision avoidance path, a characteristic of a second adversecircumstance present in a second possible collision avoidance path ofthe vehicle. In an embodiment, the operational flow 800 includesdisplaying a human perceivable presentation of an aspect of the selectedcollision avoidance path. In an embodiment, the operational flowincludes generating a collision avoidance instruction responsive to theselected collision avoidance path. In an embodiment, the operationalflow includes initiating an implementation of an aspect of the selectedcollision avoidance path by a control system of the vehicle.

In an embodiment of the second thresholding operation 890, thedetermining includes comparing the first risk value of the firstpossible collision avoidance path and the first uncertainty in acombination with respect to the evaluation of the second risk value ofthe second possible collision avoidance path and the second uncertaintyin a combination. In this embodiment, the second communicating operation895 includes selecting a collision avoidance path from the firstpossible collision avoidance path or the second possible collisionavoidance path in response to the comparing, and outputting the selectedcollision avoidance path.

FIG. 15 illustrates an example operational flow 900. After a startoperation, the operational flow includes a first evaluation operation910. The first evaluation operation includes determining acharacteristic of a first adverse circumstance present in a firstpossible collision avoidance path of a vehicle. A first rating operation920 includes assigning a first risk value to the first possiblecollision avoidance path responsive to the determined characteristic ofthe first adverse circumstance. A first probability distributionoperation 930 includes assigning a first uncertainty to the first riskvalue. A second evaluation operation 940 includes determining acharacteristic of a second adverse circumstance present in a secondpossible collision avoidance path of the vehicle. A second ratingoperation 950 includes assigning a second risk value to the secondpossible collision avoidance path responsive to the determinedcharacteristic of the second adverse circumstance. A second probabilitydistribution operation 960 includes assigning a second uncertainty tothe second risk value. A targeting operation 970 includes establishing athreshold criteria responsive to a combination of the second risk valueof the second possible collision avoidance path and the seconduncertainty. A thresholding operation 980 includes determining if thefirst risk value of the first possible collision avoidance path and thefirst uncertainty in a combination meets the threshold criteria. Acommunicating operation 990 includes outputting the first possiblecollision avoidance path as a selected collision avoidance path if thethreshold criteria is met. The operational flow includes an endoperation. In an embodiment, the communicating operation includesoutputting the second possible collision avoidance path as a selectedcollision avoidance path if the threshold criteria is not met.

All references cited herein are hereby incorporated by reference intheir entirety or to the extent their subject matter is not otherwiseinconsistent herewith.

In some embodiments, “configured” includes at least one of designed, setup, shaped, implemented, constructed, or adapted for at least one of aparticular purpose, application, or function.

It will be understood that, in general, terms used herein, andespecially in the appended claims, are generally intended as “open”terms. For example, the term “including” should be interpreted as“including but not limited to.” For example, the term “having” should beinterpreted as “having at least.” For example, the term “has” should beinterpreted as “having at least.” For example, the term “includes”should be interpreted as “includes but is not limited to,” etc. It willbe further understood that if a specific number of an introduced claimrecitation is intended, such an intent will be explicitly recited in theclaim, and in the absence of such recitation no such intent is present.For example, as an aid to understanding, the following appended claimsmay contain usage of introductory phrases such as “at least one” or “oneor more” to introduce claim recitations. However, the use of suchphrases should not be construed to imply that the introduction of aclaim recitation by the indefinite articles “a” or “an” limits anyparticular claim containing such introduced claim recitation toinventions containing only one such recitation, even when the same claimincludes the introductory phrases “one or more” or “at least one” andindefinite articles such as “a” or “an” (e.g., “a receiver” shouldtypically be interpreted to mean “at least one receiver”); the sameholds true for the use of definite articles used to introduce claimrecitations. In addition, even if a specific number of an introducedclaim recitation is explicitly recited, it will be recognized that suchrecitation should typically be interpreted to mean at least the recitednumber (e.g., the bare recitation of “at least two chambers,” or “aplurality of chambers,” without other modifiers, typically means atleast two chambers).

In those instances where a phrase such as “at least one of A, B, and C,”“at least one of A, B, or C,” or “an [item] selected from the groupconsisting of A, B, and C,” is used, in general such a construction isintended to be disjunctive (e.g., any of these phrases would include butnot be limited to systems that have A alone, B alone, C alone, A and Btogether, A and C together, B and C together, or A, B, and C together,and may further include more than one of A, B, or C, such as A₁, A₂, andC together, A, B₁, B₂, C₁, and C₂ together, or B₁ and B₂ together). Itwill be further understood that virtually any disjunctive word or phrasepresenting two or more alternative terms, whether in the description,claims, or drawings, should be understood to contemplate thepossibilities of including one of the terms, either of the terms, orboth terms. For example, the phrase “A or B” will be understood toinclude the possibilities of “A” or “B” or “A and B.”

The herein described aspects depict different components containedwithin, or connected with, examples different other components. It is tobe understood that such depicted architectures are merely, and that infact many other architectures can be implemented which achieve the samefunctionality. In a conceptual sense, any arrangement of components toachieve the same functionality is effectively “associated” such that thedesired functionality is achieved. Hence, any two components hereincombined to achieve a particular functionality can be seen as“associated with” each other such that the desired functionality isachieved, irrespective of architectures or intermedial components.Likewise, any two components so associated can also be viewed as being“operably connected,” or “operably coupled,” to each other to achievethe desired functionality. Any two components capable of being soassociated can also be viewed as being “operably couplable” to eachother to achieve the desired functionality. Specific examples ofoperably couplable include but are not limited to physically mateable orphysically interacting components or wirelessly interactable orwirelessly interacting components.

With respect to the appended claims the recited operations therein maygenerally be performed in any order. Also, although various operationalflows are presented in a sequence(s), it should be understood that thevarious operations may be performed in other orders than those which areillustrated, or may be performed concurrently. Examples of suchalternate orderings may include overlapping, interleaved, interrupted,reordered, incremental, preparatory, supplemental, simultaneous,reverse, or other variant orderings, unless context dictates otherwise.Use of “Start,” “End,” “Stop,” or the like blocks in the block diagramsis not intended to indicate a limitation on the beginning or end of anyoperations or functions in the diagram. Such flowcharts or diagrams maybe incorporated into other flowcharts or diagrams where additionalfunctions are performed before or after the functions shown in thediagrams of this application. Furthermore, terms like “responsive to,”“related to,” or other past-tense adjectives are generally not intendedto exclude such variants, unless context dictates otherwise.

While various aspects and embodiments have been disclosed herein, otheraspects and embodiments will be apparent to those skilled in the art.The various aspects and embodiments disclosed herein are for purposes ofillustration and are not intended to be limiting, with the true scopeand spirit being indicated by the following claims.

What is claimed is:
 1. A method comprising: determining a characteristicof a first adverse circumstance present in a first possible collisionavoidance path of a vehicle; assigning a first risk value to the firstpossible collision avoidance path responsive to the determinedcharacteristic of the first adverse circumstance; assigning a firstuncertainty to the first risk value; determining if the first risk valueof the first possible collision avoidance path and the first uncertaintyin a combination meet a threshold criteria; and outputting the firstpossible collision avoidance path as a selected collision avoidance pathif the threshold criteria is met.
 2. The method of claim 1, wherein thecharacteristic of the first adverse circumstance includes acharacteristic of another vehicle present in the first possiblecollision avoidance path.
 3. The method of claim 2, wherein thecharacteristic of the another vehicle includes a predicted consequenceof a collision between the vehicle and the another vehicle.
 4. Themethod of claim 1, wherein the characteristic of the first adversecircumstance includes a characteristic of at least a portion of anadverse driving surface of the first possible collision avoidance path.5. The method of claim 1, wherein the characteristic of the firstadverse circumstance includes a characteristic of an adverse objectpresent in the first possible collision avoidance path.
 6. The method ofclaim 1, wherein the first risk value is assigned based upon acapability of the vehicle to travel the first possible collisionavoidance path.
 7. The method of claim 1, wherein the assigned firstuncertainty is responsive to a confidence level in the assigned firstrisk value.
 8. The method of claim 1, wherein the assigned firstuncertainty is responsive to a three-point estimation technique.
 9. Themethod of claim 1, wherein the assigned first uncertainty includes riskprobability distribution.
 10. The method of claim 1, wherein thethreshold criteria is specified by a driver or occupant of the vehicle,or a manufacturer of the vehicle.
 11. The method of claim 1, wherein thethreshold criteria is based on a driving experience level of a driver ofthe vehicle.
 12. The method of claim 1, wherein the threshold criteriais based on a current visibility level.
 13. The method of claim 1,wherein the threshold criteria is structured to respond to oraccommodate at least two different types of risks with a single criteriaor factor.
 14. The method of claim 1, further comprising: displaying ahuman perceivable presentation of an aspect of the selected collisionavoidance path.
 15. The method of claim 1, further comprising:initiating an implementation of an aspect of the selected collisionavoidance path by a control system of the vehicle.
 16. The method ofclaim 1, further comprising: generating a collision avoidanceinstruction responsive to the selected collision avoidance path.
 17. Themethod of claim 1, further comprising: determining a characteristic of asecond adverse circumstance present in a second possible collisionavoidance path of the vehicle; assigning a second risk value to thesecond possible collision avoidance path responsive to the determinedcharacteristic of the second adverse circumstance; assigning a seconduncertainty to the second risk value; determining if the second riskvalue of the second possible collision avoidance path and the seconduncertainty in a combination meet the threshold criteria; and outputtingthe second possible collision avoidance path as the selected collisionavoidance path if the threshold criteria is met.
 18. The method of claim17, wherein the determining includes determining, if the thresholdcriteria is not met by the first possible collision avoidance path, acharacteristic of a second adverse circumstance present in the secondpossible collision avoidance path of the vehicle.
 19. The method ofclaim 17, further comprising: displaying a human perceivablepresentation of an aspect of the selected collision avoidance path. 20.The method of claim 17, further comprising: generating a collisionavoidance instruction responsive to the selected collision avoidancepath.
 21. The method of claim 17, further comprising: initiating animplementation of an aspect of the selected collision avoidance path bya control system of the vehicle.
 22. The method of claim 17: wherein thedetermining includes comparing the first risk value of the firstpossible collision avoidance path and the first uncertainty in acombination with respect to the second risk value of the second possiblecollision avoidance path and the second uncertainty in a combination;and wherein the outputting includes selecting a collision avoidance pathfrom the first possible collision avoidance path or the second possiblecollision avoidance path in response to the comparing, and outputtingthe selected collision avoidance path.
 23. A method comprising:determining a characteristic of a first adverse circumstance present ina first possible collision avoidance path of a vehicle; assigning afirst risk value to the first possible collision avoidance pathresponsive to the determined characteristic of the first adversecircumstance; assigning a first uncertainty to the first risk value;determining a characteristic of a second adverse circumstance present ina second possible collision avoidance path of the vehicle; assigning asecond risk value to the second possible collision avoidance pathresponsive to the determined characteristic of the second adversecircumstance; assigning a second uncertainty to the second risk value;establishing a threshold criteria responsive to a combination of thesecond risk value of the second possible collision avoidance path andthe second uncertainty; determining if the first risk value of the firstpossible collision avoidance path and the first uncertainty in acombination meets the threshold criteria; and outputting the firstpossible collision avoidance path as a selected collision avoidance pathif the threshold criteria is met.
 24. The method of claim 23, furthercomprising: outputting the second possible collision avoidance path as aselected collision avoidance path if the threshold criteria is not met.